SkyEye硬件模拟平台：硬件仿真实现之三

本系列文章的第三部分主要介绍了SkyEye硬件模拟平台的实现细节。主要内容包括SkyEye的总体设计、SkyEye的可扩展框架、SkyEye的关键数据结构、SkyEye对各种CPU的模拟实现、SkyEye对各种外设的模拟实现、如何安装使用SkyEye以及如何扩展SkyEye的仿真模块等。对SkyEye的深入了解，有助于对嵌入式硬件系统有更深入的认识，特别是对操作系统、驱动程序如何与嵌入式硬件系统进行交互有更深刻的了解。

SkyEye的MMU/CACHE和Memory模拟实现

1. MMU和Memory系统结构

图 0-1 ARM系统中MMU和Memory的系统结构

ARM系统中MMU和Memory的系统结构如图 0 1所示。不过具体的CPU在实现MMU时差别较大，可能对其做简化和扩展, SkyEye的MMU模拟实现基于此，在提供一个标准的接口基础上,分成与具体CPU类型无关的MMU模拟子模块和与具体CPU类型相关的MMU模拟子模块两个主要部分。

2. ARM 数据访问的基本流程图
ARM CPU进行数据访问的基本流程如图 0 2所示。

图 0-2 ARM CPU进行数据访问的基本流程

3. MMU的统一接口
数据结构

typedef struct mmu_state_t { ARMword control; //CP15 control register ARMword translation_table_base; //CP15 translation table base register ARMword domain_access_control; //CP15 domain access control register ARMword fault_status; //CP15 fault status register ARMword fault_address; //CP15 fault address register ARMword last_domain; //last access domain ARMword process_id; //CP15 process id register mmu_ops_t ops; union{ sa_mmu_t sa_mmu; arm7100_mmu_t arm7100_mmu; }u; } mmu_state_t; typedef struct mmu_ops_s{ int (*init)(ARMul_State *state);/*initilization*/ void (*exit)(ARMul_State *state);/*free on exit*/ fault_t (*read_byte)(ARMul_State *state, ARMword va, ARMword *data); fault_t (*write_byte)(ARMul_State *state, ARMword va, ARMword data); fault_t (*read_halfword)(ARMul_State *state, ARMword va, ARMword *data); fault_t (*write_halfword)(ARMul_State *state, ARMword va,ARMword data); fault_t (*read_word)(ARMul_State *state, ARMword va,ARMword *data); fault_t (*write_word)(ARMul_State *state, ARMword va,ARMword data); fault_t (*load_instr)(ARMul_State *state, ARMword va, ARMword *instr); void (*mcr)(ARMul_State *state, ARMword instr, ARMword val); ARMword (*mrc)(ARMul_State *state, ARMword instr); }mmu_ops_t;

数据结构ARMul_State中类型为mmu_state_t的mmu代表模拟中MMU的状态。mmu_state_t中的ops提供具体mmu的接口函数，同时包括一个联合结构u用于具体mmu实现的数据结构。

4. 与具体CPU类型无关的MMU模拟子模块
与具体CPU类型无关的MMU模拟子模块是实现MMU模拟的基础，它实现了TLB，TTW, 访问控制，CACHE, Write Buffer，Read Buffer等MMU要素的模拟,并且提供了较统一的接口，可以较灵活地组合实现具体MMU模拟。

TLB的实现（mmu/tlb.[ch]）
TLB是一个表，它的表项包含地址映射信息和访问控制信息，地址转换信息只有在该表中查询不到时，才通过TTW在内存中查找。

数据结构

TLB 映射类型

typedef enum tlb_mapping_t { TLB_INVALID = 0, TLB_SMALLPAGE = 1, TLB_LARGEPAGE = 2, TLB_SECTION = 3 } tlb_mapping_t;

TLB 表项

typedef struct tlb_entry_t { ARMword virt_addr; //virtual address ARMword phys_addr; //physical address ARMword perms; //access permission ARMword domain; //access domain tlb_mapping_t mapping; //tlb mapping type } tlb_entry_t;

TLB 表

typedef struct tlb_s{ int num; /*num of tlb entry*/ int cycle; /*current tlb cycle，used for allocate tlb_entry*/ tlb_entry_t *entrys; }tlb_t;

接口函数

int mmu_tlb_init(tlb_t *tlb_t, int num); 初始化TLB void mmu_tlb_exit(tlb_t *tlb_t); 释放TLB void mmu_tlb_invalidate_all(ARMul_State *state, tlb_t *tlb_t); 无效所有的tlb_entry void mmu_tlb_invalidate_entry(ARMul_State *state, tlb_t *tlb_t, ARMword virt_addr); 无效包含指定virt_addr的tlb_entry. tlb_entry_t * mmu_tlb_search(ARMul_State *state, tlb_t *tlb_t, ARMword virt_addr); 根据virt_addr查找tlb_entry

TTW的实现(mmu/tlb.[ch])
ARM系统中通过2级映射，实现了页式地址转换。

接口函数

fault_t translate(ARMul_State *state, ARMword virt_addr, tlb_t *tlb_t, tlb_entry_t **tlb) { /*首先查找TLB表，如果没有找到，执行TTW并更新TLB表*/ *tlb = mmu_tlb_search(state, tlb_t, virt_addr);/*查找tlb*/ if (!*tlb) { /* 没有找到,进行TTW*/ ARMword l1addr, l1desc; /*一级描述符地址、一级描述符*/ tlb_entry_t entry; l1addr = state->mmu.translation_table_base & 0xFFFFC000; l1addr = (l1addr | (virt_addr >> 18)) & ~3; /*计算一级描述符地址*/ l1desc = mem_read_word(state, l1addr); /*读取一级描述符*/ switch (l1desc & 3) { case 0: case 3: return SECTION_TRANSLATION_FAULT; case 1: /*页式变换*/ { ARMword l2addr, l2desc; /*二级描述符的地址，二级描述符*/ l2addr = l1desc & 0xFFFFFC00; /*计算二级描述符的地址*/ l2addr = (l2addr | ((virt_addr & 0x000FF000) >> 10)) & ~3; /*读取二级描述符*/ l2desc = mem_read_word(state, l2addr); entry.virt_addr = virt_addr; entry.phys_addr = l2desc; entry.perms = l2desc & 0x00000FFC; entry.domain = (l1desc >> 5) & 0x0000000F; switch (l2desc & 3) { case 0: case 3: state->mmu.last_domain = entry.domain; return PAGE_TRANSLATION_FAULT; case 1: entry.mapping = TLB_LARGEPAGE; /*大页*/ break; case 2: entry.mapping = TLB_SMALLPAGE; /*小页*/ break; } } break; case 2: /*段变换*/ entry.virt_addr = virt_addr; entry.phys_addr = l1desc; entry.perms = l1desc & 0x00000C0C; entry.domain = (l1desc >> 5) & 0x0000000F; entry.mapping = TLB_SECTION; break; } entry.virt_addr &= tlb_masks[entry.mapping]; entry.phys_addr &= tlb_masks[entry.mapping]; /* 更新tlb*/ *tlb = &tlb_t->entrys[tlb_t->cycle]; tlb_t->cycle = (tlb_t->cycle + 1) % tlb_t->num; **tlb = entry; } state->mmu.last_domain = (*tlb)->domain; return NO_FAULT; }

访问控制的实现(mmu/tlb.[ch])

接口函数

fault_t check_access(ARMul_State *state, ARMword virt_addr, tlb_entry_t *tlb, int read);

CACHE的实现(mmu/cache.[ch])

ARM系统中一般只实现组相联CACHE。组相联CACHE分成多组，一个组有包括多个CACHE line，一个32位地址可以由下图表示。

Tag

Set

Word

1

0

数据结构

Cache行

typedef struct cache_line_t{ ARMword tag; /* cache line align address | bit2: last half dirty bit1: first half dirty bit0: cache valid flag */ ARMword pa; /*physical address*/ ARMword *data; /*array of cached data*/ }cache_line_t; #define TAG_VALID_FLAG 0x00000001 #define TAG_FIRST_HALF_DIRTY 0x00000002 #define TAG_LAST_HALF_DIRTY 0x00000004

Cache 组

typedef struct cache_set_s{ cache_line_t *lines; int cycle; /*used for cache line allocation*/ }cache_set_t;

Cache 结构

typedef struct cache_s{ int width; /*bytes in a line*/ int way; /*way of set asscociate*/ int set; /*num of set*/ int w_mode; /*write back or write through*/ //int a_mode; /*alloc mode: random or round-bin*/ cache_set_t *sets; }cache_t;

接口函数

/*Cache的初始化和释放*/ int mmu_cache_init(cache_t *cache_t, int width, int way, int set, int w_mode); void mmu_cache_exit(cache_t *cache_t); /*Cache 查找和分配*/ cache_line_t * mmu_cache_search(ARMul_State *state, cache_t *cache_t, ARMword va); cache_line_t * mmu_cache_alloc(ARMul_State *state, cache_t *cache_t, ARMword va, ARMword pa); /*Cache 操作*/ void mmu_cache_write_back(ARMul_State *state, cache_t *cache_t, cache_line_t *cache); void mmu_cache_clean(ARMul_State *state, cache_t *cache_t, ARMword va); void mmu_cache_invalidate(ARMul_State *state, cache_t *cache_t, ARMword va); void mmu_cache_invalidate_all(ARMul_State *state, cache_t *cache_t); void mmu_cache_soft_flush(ARMul_State *state, cache_t *cache_t, ARMword pa);

Write Buffer的实现(mmu/wb.[hc])

用一个循环队列模拟Write Buffer。

数据结构

typedef struct wb_entry_s{ ARMword pa; //phy_addr ARMbyte *data;//data int nb; //number byte to write }wb_entry_t; typedef struct wb_s{ int num; //wb_entry_t的总数 int nb; //wb_entry_t中最大字节数 int first; //循环队列头 int last; //循环队列尾 int used; //循环队列中已用wb_entry_t的个数 wb_entry_t *entrys; }wb_t;

接口函数

/*初始化和释放*/ int mmu_wb_init(wb_t *wb_t, int num, int nb); void mmu_wb_exit(wb_t *wb); /*数据入Write Buffer*/ void mmu_wb_write_bytess(ARMul_State *state, wb_t *wb_t, ARMword pa, ARMbyte *data, int n); /*将Write Buffer中数据全部写入内存*/ void mmu_wb_drain_all(ARMul_State *state, wb_t *wb_t);

Read Buffer的实现(mmu/rb.[hc])

数据结构

typedef struct rb_entry_s{ ARMword data[RB_WORD_NUM];//array to store data ARMword va; //first word va int type; //rb type fault_t fault; //fault set by rb alloc }rb_entry_t; typedef struct rb_s{ int num; rb_entry_t *entrys; }rb_t;

接口函数

/*初始化和释放*/ int mmu_rb_init(rb_t *rb_t, int num); void mmu_rb_exit(rb_t *rb_t); rb_entry_t *mmu_rb_search(rb_t *rb_t, ARMword va);/*查找*/ void mmu_rb_invalidate_entry(rb_t *rb_t, int i);/*无效*/ void mmu_rb_invalidate_all(rb_t *rb_t); void mmu_rb_load(ARMul_State *state, rb_t *rb_t, int i_rb, int type, ARMword va);/*装入*/

5. 与具体CPU类型相关的MMU模拟子模块
与具体CPU类型相关的MMU模拟子模块建立在与具体CPU无关的MMU模拟实现子模块的基础上，通过实现具体CPU的mmu_ops_t，完成具体CPU的MMU模拟。以下详细介绍StrongARM的MMU实现。

6. StrongARM MMU的组成结构
StrongARM的MMU分成指令和数据两部分。指令部分包括一个指令TLB和一个指令CACHE,数据部分包括一个数据TLB，两个数据CACHE(main CACHE和 mini CACHE)，一个Write Buffer和一个Read Buffer。如图 0 3所示：

图 0-3 StrongARM数据访问功能部件图

7. StrongARM mmu_ops_t的实现

mmu_ops_t sa_mmu_ops = { sa_mmu_init, sa_mmu_exit, sa_mmu_read_byte, sa_mmu_write_byte, sa_mmu_read_halfword, sa_mmu_write_halfword, sa_mmu_read_word, sa_mmu_write_word, sa_mmu_load_instr, sa_mmu_mcr, sa_mmu_mrc, };

SA MMU的初始化

typedef struct sa_mmu_desc_s{ int i_tlb; cache_desc_t i_cache; int d_tlb; cache_desc_t main_d_cache; cache_desc_t mini_d_cache; int rb; wb_desc_t wb; }sa_mmu_desc_t; static sa_mmu_desc_t sa11xx_mmu_desc ={ 32, {32, 32, 16, CACHE_WRITE_BACK}, 32, {32, 32, 8, CACHE_WRITE_BACK}, {32, 2, 8, CACHE_WRITE_BACK}, 4, {8, 16} }; typedef struct sa_mmu_s{ /*指令部分*/ tlb_t i_tlb; /*指令tlb*/ cache_t i_cache; /*指令cache*/ /*数据部分*/ tlb_t d_tlb; /*数据tlb*/ cache_t main_d_cache;/*main cache*/ cache_t mini_d_cache;/*mini cache*/ rb_t rb_t; /*Read Buffer*/ wb_t wb_t; /*Write Buffer*/ }sa_mmu_t;

int sa_mmu_init(ARMul_State *state);
sa_mmu_desc_t 是SA MMU参数描述的数据结构，sa_mmu_t实现SA MMU 的数据表示。sa_mmu_init根据sa11xx_mmu_desc，完成对state->u.sa_mmu的初始化。

SA MMU的数据读操作

static fault_t sa_mmu_read(ARMul_State *state, ARMword va, ARMword *data, ARMword datatype) { fault_t fault; rb_entry_t *rb; tlb_entry_t *tlb; cache_line_t *cache; ARMword pa, real_va,temp,offset; /*根据CP15 process id register转换地址*/ va = mmu_pid_va_map(va); real_va=va; if (MMU_Disabled){ /*如果MMU关闭,直接从内存读取*/ if (datatype==ARM_BYTE_TYPE) *data = mem_read_byte(state, va); else if (datatype==ARM_HALFWORD_TYPE) *data = mem_read_halfword(state, va); else if (datatype==ARM_WORD_TYPE) *data = mem_read_word(state, va); else { printf("SKYEYE:1 sa_mmu_read error: unknown data type %d/n",datatype); exit(-1); } return 0; } /*align 异常检查*/ if (((va & 3 ) && (datatype==ARM_WORD_TYPE) && MMU_Aligned) || / ((va & 1 ) && (datatype==ARM_HALFWORD_TYPE) && MMU_Aligned) ){ d_msg("align/n"); return ALIGNMENT_FAULT; } // else va &= ~(WORD_SIZE - 1); /*TTW得到tlb*/ fault = translate(state, va, D_TLB(), &tlb); if (fault){ d_msg("translate/n"); return fault; } /*访问控制检查*/ fault = check_access(state, va, tlb, 1); if (fault) return fault; /*首先在Read Buffer中查找数据*/ rb = mmu_rb_search(RB(), va); if (rb){ if (rb->fault) return rb->fault; *data = rb->data[(va & (rb_masks[rb->type]-1))>>WORD_SHT]; goto datatrans; //return 0; }; /*其次查找main cache*/ cache = mmu_cache_search(state, MAIN_D_CACHE(), va); if (cache){ *data = cache->data[va_cache_index(va, MAIN_D_CACHE())]; goto datatrans; //return 0; } /*最后查找mini cache*/ cache = mmu_cache_search(state, MINI_D_CACHE(), va); if (cache){ *data = cache->data[va_cache_index(va, MINI_D_CACHE())]; goto datatrans; //return 0; } /*计算物理地址*/ pa = tlb_va_to_pa(tlb, va); /*如果在[0xe0000000, 0xe8000000]区间，执行mmu_cache_soft_flush*/ if ((pa >= 0xe0000000) && (pa < 0xe8000000)){ if (tlb_c_flag(tlb)){ if (tlb_b_flag(tlb)){ mmu_cache_soft_flush(state, MAIN_D_CACHE(), pa); }else{ mmu_cache_soft_flush(state, MINI_D_CACHE(), pa); } } return 0; } /*如果B＝1，必须先清空Write Buffer*/ if (tlb_b_flag(tlb)) mmu_wb_drain_all(state, WB()); if (tlb_c_flag(tlb) && MMU_DCacheEnabled){ /*如果C=1,并且Data Cache开启，将数据读入Cache*/ cache_t *cache_t; if (tlb_b_flag(tlb)) cache_t = MAIN_D_CACHE(); else cache_t = MINI_D_CACHE(); cache = mmu_cache_alloc(state, cache_t, va, pa); *data = cache->data[va_cache_index(va, cache_t)]; }else{ /*直接从内存读取*/ if (datatype==ARM_BYTE_TYPE) *data = mem_read_byte(state, pa|(real_va&3)); else if (datatype==ARM_HALFWORD_TYPE) *data = mem_read_halfword(state, pa|(real_va&2)); else if (datatype==ARM_WORD_TYPE) *data = mem_read_word(state, pa); else { printf("SKYEYE:2 sa_mmu_read error: unknown data type %d/n", datatype); exit(-1); } return 0; } /*根据读类型和Endian模式整理结果*/ datatrans: if (datatype==ARM_HALFWORD_TYPE){ temp = *data; offset = (((ARMword) state->bigendSig * 2) ^ (real_va & 2)) << 3; /* bit offset into the word */ *data= (temp>> offset) & 0xffff; } else if (datatype==ARM_BYTE_TYPE) { temp = *data; offset = (((ARMword) state->bigendSig * 3) ^ (real_va & 3)) << 3; /* bit offset into the word */ *data=(temp >> offset & 0xffL); } end: return 0; }

SA MMU的mcr操作

static void sa_mmu_mcr(ARMul_State *state, ARMword instr, ARMword value) { mmu_regnum_t creg = BITS(16, 19) & 15; if (!strncmp(skyeye_config.cpu->cpu_arch_name, "armv4", 5) ) { switch (creg) { …………………. case MMU_CACHE_OPS: sa_mmu_cache_ops(state, instr, value); break; case MMU_TLB_OPS: sa_mmu_tlb_ops(state, instr, value); break; case MMU_SA_RB_OPS: sa_mmu_rb_ops(state, instr, value); break; case MMU_SA_DEBUG: break; case MMU_SA_CP15_R15: break; case MMU_PID: state->mmu.process_id = value & 0x8e000000; break; default: printf("mmu_mcr wrote UNKNOWN - reg %d/n", creg); break; } } }

sa_mmu_mcr实现SA MMU特定的cache, tlb, read buffer, write buffer等操作。

8. Memory系统的实现
SkyEye memory系统的模拟实现的基本思想是：

1． 地址划分，每个划分区域都提供对应的读写函数

2． 通过skyeye.conf配置文件配置memory地址区域

数据结构

typedef struct mem_bank_t { ARMword (*read_byte)(ARMul_State *state, ARMword addr); void (*write_byte)(ARMul_State *state, ARMword addr, ARMword data); ARMword (*read_halfword)(ARMul_State *state, ARMword addr); void (*write_halfword)(ARMul_State *state, ARMword addr, ARMword data); ARMword (*read_word)(ARMul_State *state, ARMword addr); void (*write_word)(ARMul_State *state, ARMword addr, ARMword data); unsigned long addr, len; char filename[MAX_STR]; } mem_bank_t; typedef struct { int bank_num; int current_num; /*current num of bank*/ mem_bank_t mem_banks[MAX_BANK]; } mem_config_t;

配置函数

int do_mem_bank_option(skyeye_option_t *this_option, int num_params, const char *params[])； /*完成memory bank的配置*/

读写接口函数

ARMword mem_read_byte(ARMul_State *state, ARMword addr); ARMword mem_read_halfword(ARMul_State *state, ARMword addr); ARMword mem_read_word(ARMul_State *state, ARMword addr); void mem_write_byte(ARMul_State *state, ARMword addr, ARMword data); void mem_write_halfword(ARMul_State *state, ARMword addr, ARMword data); void mem_write_word(ARMul_State *state, ARMword addr, ARMword data);

实现方式都是先根据地址在mem_config_t中找到对应的mem_bank,再调用mem_bank对应的读写函数。

内存区域的读写函数

ARMword real_read_byte(ARMul_State *state, ARMword addr); void real_write_byte(ARMul_State *state, ARMword addr, ARMword data); ARMword real_read_halfword(ARMul_State *state, ARMword addr); void real_write_halfword(ARMul_State *state, ARMword addr, ARMword data); ARMword real_read_word(ARMul_State *state, ARMword addr); void real_write_word(ARMul_State *state, ARMword addr, ARMword data);

IO区域的读写函数

ARMword io_read_byte(ARMul_State *state, ARMword addr); void io_write_byte(ARMul_State *state, ARMword addr, ARMword data); ARMword io_read_halfword(ARMul_State *state, ARMword addr); void io_write_halfword(ARMul_State *state, ARMword addr, ARMword data); ARMword io_read_word(ARMul_State *state, ARMword addr); void io_write_word(ARMul_State *state, ARMword addr, ARMword data);

这些函数将IO的读写转换成模拟的CPU的IO读写